CN103645485A - Pseudorange differential method based on dual-satellite time difference and frequency difference passive positioning - Google Patents
Pseudorange differential method based on dual-satellite time difference and frequency difference passive positioning Download PDFInfo
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- CN103645485A CN103645485A CN201310519847.6A CN201310519847A CN103645485A CN 103645485 A CN103645485 A CN 103645485A CN 201310519847 A CN201310519847 A CN 201310519847A CN 103645485 A CN103645485 A CN 103645485A
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- satellite
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- pseudorange
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- radiation source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a pseudorange differential method based on dual-satellite time difference and frequency difference passive positioning. According to the method, the pseudorange difference between two satellites and a reference station is measured successively, the pseudorange correction of the satellites is calculated, the pseudorange difference of an unknown radiation source is corrected through the pseudorange correction to obtain an arrival time difference which is close to the true value, the arrival frequency difference between the reference station and the two satellites is measured, the arrival frequency difference between the reference station and the two satellite which is close to the true value is calculated, the arrival frequency difference between the unknown radiation source and the two satellites is corrected through the frequency correction of the satellites to obtain an arrival frequency difference which is close to the true value, and the high-accuracy positioning of the unknown radiation source is realized through an earth ellipsoid equation and the arrival time difference and the arrival frequency difference which are close to the true value. According to the invention, system positioning errors can be corrected, so that the accuracy of a dual-satellite passive positioning system can be improved.
Description
Technical field
The invention belongs to the technical field of passive location, be particularly applied in the Correction of Errors technology of double star passive location, pseudo range difference method.
Background technology
GPS pseudo range difference is current widely used a kind of technology, its ultimate principle is that the receiver of base station records it to the distance of satellite, because the existence of ephemeris error and star clock error, the pseudorange of measuring is also not equal to the pseudorange obtaining according to ephemeris computation, think the measured value that contains error, using the pseudorange obtaining according to ephemeris computation as true value, true pseudorange is compared with the measured value that contains error, utilize a wave filter by this differential filtering and obtain pseudorange correction, then by the pseudorange correction broadcast of all satellites in view to user, user utilizes this correction to correct corresponding pseudo range observed quantity.Finally, user utilizes the pseudorange after correction to solve the position coordinates of self, with regard to cancellation base station and user's common error, has reached the object that improves positioning precision.Double star passive location system is that to take two satellites be platform, adopt to arrive mistiming and the poor co-located technology of arrival rate, by measuring radiation source radiation signal, arrive that time of arrival between 2 observation platforms is poor and arrival rate is poor and earth ellipsoid equation is determined the position of radiation source.Therefore measuring error and the earth ellipsoid error in equation of its positioning precision and TDOA, FDOA are relevant.At present, it is international and domestic that mainly to concentrate on the research that the positioning calculation of measurement equation is improved one's methods more, and positioning precision can only reach 10~20km, if do not adopt the Correction of Errors method of science to be corrected various positioning errors, be just difficult to realize the hi-Fix to radiation source.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of pseudo range difference method based on the frequency difference passive location of the double star time difference, can improve the positioning precision of double star passive location.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps:
1) two satellites of measurement are poor to the pseudorange of reference station
In formula
be respectively two satellites to the pseudorange of reference station,
be respectively two satellites to the geometric distance of reference station, can obtain according to the position at known reference station and satellite broadcasting ephemeris computation, that is:
(x in formula
0, y
0, z
0) be the coordinate of reference station, (x
si, y
si, z
si), i=1,2 is positions of two satellites,
represent the range error relevant with satellite position with ground reference station location, Δ ρ
0represent the range error relevant with receiver;
2) calculate the pseudorange correction of satellite:
3) utilize pseudorange correction Δ ρ to correct the pseudorange of unknown radiation source poor, obtain approaching poor Δ t' time of arrival of true value:
In formula, (x, y, z) represents the position of unknown radiation source, and c is the light velocity;
4) arrival rate of witness mark station to two satellite is poor is Δ f
r;
5) the poor Δ f of the arrival rate that approaches true value of computing reference station to two satellite
0,
(v in formula
xi, v
yi, v
zi), i=1, the 2nd, the speed of satellite;
6) calculate the frequency correction number of satellite:
ΔF=Δf
0-Δf
r (7)
7) arrival rate of unknown radiation source to two satellite is poor is Δ f, and utilizing frequency correction to count Δ F, to correct the arrival rate of unknown radiation source poor, obtains approaching the poor Δ f' of arrival rate of true value:
8) utilize earth ellipsoid equation:
In formula, a is earth semi-major axis, and b is earth semi-minor axis;
9) by formula (5), (8) and (9), resolve the position of unknown radiation source, and then realize hi-Fix.
The invention has the beneficial effects as follows: by utilizing the known radiation source of location aware, utilize the pseudo range difference method of GPS to correct the positioning error of unknown radiation source, improved the positioning precision of double star passive location system, and precision can be better than 5km.
Embodiment
Below in conjunction with embodiment, the present invention is further described, the present invention includes but be not limited only to following embodiment.
Difference measurements precision time of arrival that the present embodiment adopts is 30ns, and arrival rate difference measurements precision is 10Hz, and between star, distance accuracy is 0.3m, and between star, Relative position determination precision is 1m, and satellite orbit is low orbit satellite data, and satellite altitude is 800km.In this embodiment with the carrier frequency f of reference station
0=10GHz, the initial coordinate of unknown radiation source is that [100 35 0] are example, on this basis unknown radiation source is chosen at random, and reference station coordinates is [105 35 0], and the pseudo range difference method based on the frequency difference passive location of the double star time difference specifically comprises the following steps:
1, instrumented satellite 1 and satellite 2 are poor to the pseudorange of reference station
rice, wherein
In formula
be respectively satellite 1 and satellite 2 to the pseudorange of reference station,
be respectively satellite 1 and satellite 2 to the geometric distance of reference station, can obtain according to the position at known reference station and satellite broadcasting ephemeris computation, that is:
(x in formula
0, y
0, z
0) be the coordinate of reference station, (x
si, y
si, z
si), i=1, the 2nd, satellite position,
represent the range error relevant with satellite position with ground reference station location, Δ ρ
0represent the range error relevant with receiver;
3, utilize pseudorange correction Δ ρ to correct the pseudorange of unknown radiation source poor, obtain approaching poor Δ t' time of arrival of true value:
In formula, (x, y, z) represents the position of unknown radiation source;
4, witness mark station is poor to the arrival rate of satellite 1 and satellite 2 is Δ f
r=1.884 * 10
3hz;
5, computing reference station is to the poor Δ f of the arrival rate that approaches true value of satellite 1 and satellite 2
0=1.886 * 10
3hz,
(v in formula
xi, v
yi, v
zi), i=1, the 2nd, the speed of satellite;
6, calculate the frequency correction number of satellite:
ΔF=Δf
0-Δf
r=2Hz
7, unknown radiation source is poor to the arrival rate of satellite 1 and satellite 2 is Δ f, and utilizing frequency correction to count Δ F, to correct the arrival rate of unknown radiation source poor, obtains approaching the poor Δ f' of arrival rate of true value:
8, utilize earth ellipsoid equation:
In formula, a is earth semi-major axis, and b is earth semi-minor axis;
9, by formula (5), (8) and (9), resolving the solution of unknown radiation source after difference is
U_A=[5947320.5,2092654.4,961549.4], and the solution of unknown radiation source is U_B=[5946669.3 before difference, 2092401.4,966086.1], the initial solution of emulation is U_O=[5948414.5,2089750.9,961099.3], the positioning precision before difference is | U_B-U_O|=5.91 * 10
3m, differentiated positioning precision is | U_A-U_O|=3.14 * 10
3m, therefore differentiated positioning precision is better than 5km.
As can be seen from the above embodiments, when unknown radiation source is positioned, to observed quantity difference time of arrival and the poor pseudo range difference method of utilizing of arrival rate, can eliminate some public errors, make positioning precision bring up to and be better than 5km by 10 current~20km, improved the positioning precision of passive location.
Claims (1)
1. the pseudo range difference method based on the frequency difference passive location of the double star time difference, is characterized in that comprising the steps:
1) two satellites of measurement are poor to the pseudorange of reference station
In formula
be respectively two satellites to the pseudorange of reference station,
be respectively two satellites to the geometric distance of reference station, can obtain according to the position at known reference station and satellite broadcasting ephemeris computation, that is:
(x in formula
0, y
0, z
0) be the coordinate of reference station, (x
si, y
si, z
si), i=1,2 is positions of two satellites,
represent the range error relevant with satellite position with ground reference station location, Δ ρ
0represent the range error relevant with receiver;
2) calculate the pseudorange correction of satellite:
3) utilize pseudorange correction Δ ρ to correct the pseudorange of unknown radiation source poor, obtain approaching poor Δ t' time of arrival of true value:
In formula, (x, y, z) represents the position of unknown radiation source, and c is the light velocity;
4) arrival rate of witness mark station to two satellite is poor is Δ f
r;
5) the poor Δ f of the arrival rate that approaches true value of computing reference station to two satellite
0,
(v in formula
xi, v
yi, v
zi), i=1, the 2nd, the speed of satellite;
6) calculate the frequency correction number of satellite:
ΔF=Δf
0-Δf
r (7)
7) arrival rate of unknown radiation source to two satellite is poor is Δ f, and utilizing frequency correction to count Δ F, to correct the arrival rate of unknown radiation source poor, obtains approaching the poor Δ f' of arrival rate of true value:
8) utilize earth ellipsoid equation:
9) by formula (5), (8) and (9), resolve the position of unknown radiation source, and then realize hi-Fix.
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Cited By (11)
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CN104849738A (en) * | 2015-04-28 | 2015-08-19 | 中国电子科技集团公司第三十六研究所 | Satellite positioning system and satellite positioning method |
CN105572634A (en) * | 2015-12-18 | 2016-05-11 | 中国航天科工集团八五一一研究所 | Double-satellite time difference frequency difference positioning scaling test method |
CN105842710A (en) * | 2015-01-16 | 2016-08-10 | 桂林电子科技大学 | Low-orbit binary difference/frequency difference precise correction method based on VRS difference principle |
CN107271955A (en) * | 2017-07-25 | 2017-10-20 | 西安电子科技大学 | A kind of time difference of wideband correlation and the poor method of estimation of yardstick |
CN108152836A (en) * | 2018-01-03 | 2018-06-12 | 电子科技大学 | A kind of deception measures based on the anti-Samsung frequency difference location method of FDA antennas |
CN110058274A (en) * | 2019-05-08 | 2019-07-26 | 中国科学院国家授时中心 | Time difference monitoring method and system between a kind of satellite navigation system |
CN110068340A (en) * | 2019-04-25 | 2019-07-30 | 电子科技大学 | Based on frequency compensated double star time difference frequency difference joint passive location device and method |
CN110275133A (en) * | 2019-06-27 | 2019-09-24 | 清华大学 | A kind of non-view pulse signal passive location method altogether based on virtual step-out time |
CN110595486A (en) * | 2019-09-05 | 2019-12-20 | 上海航天控制技术研究所 | High-precision semimajor axis deviation calculation method based on double-star on-orbit telemetry data |
CN113359165A (en) * | 2021-06-03 | 2021-09-07 | 中国电子科技集团公司第三十六研究所 | Method and device for multi-satellite combined positioning of radiation source and electronic equipment |
CN113433573A (en) * | 2021-06-03 | 2021-09-24 | 中国电子科技集团公司第三十六研究所 | Method and device for multi-satellite combined positioning of radiation source and electronic equipment |
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CN105842710B (en) * | 2015-01-16 | 2018-04-06 | 桂林电子科技大学 | A kind of low rail double star time difference frequency difference precision modification method based on VRS differential principles |
CN104849738A (en) * | 2015-04-28 | 2015-08-19 | 中国电子科技集团公司第三十六研究所 | Satellite positioning system and satellite positioning method |
CN104849738B (en) * | 2015-04-28 | 2018-09-04 | 中国电子科技集团公司第三十六研究所 | A kind of global position system and localization method |
CN105572634A (en) * | 2015-12-18 | 2016-05-11 | 中国航天科工集团八五一一研究所 | Double-satellite time difference frequency difference positioning scaling test method |
CN107271955A (en) * | 2017-07-25 | 2017-10-20 | 西安电子科技大学 | A kind of time difference of wideband correlation and the poor method of estimation of yardstick |
CN108152836A (en) * | 2018-01-03 | 2018-06-12 | 电子科技大学 | A kind of deception measures based on the anti-Samsung frequency difference location method of FDA antennas |
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CN110058274A (en) * | 2019-05-08 | 2019-07-26 | 中国科学院国家授时中心 | Time difference monitoring method and system between a kind of satellite navigation system |
CN110058274B (en) * | 2019-05-08 | 2020-10-20 | 中国科学院国家授时中心 | Method and system for monitoring time difference between satellite navigation systems |
CN110275133A (en) * | 2019-06-27 | 2019-09-24 | 清华大学 | A kind of non-view pulse signal passive location method altogether based on virtual step-out time |
CN110275133B (en) * | 2019-06-27 | 2021-06-29 | 清华大学 | Non-common-view pulse signal passive positioning method based on virtual arrival time difference |
CN110595486A (en) * | 2019-09-05 | 2019-12-20 | 上海航天控制技术研究所 | High-precision semimajor axis deviation calculation method based on double-star on-orbit telemetry data |
CN110595486B (en) * | 2019-09-05 | 2021-04-23 | 上海航天控制技术研究所 | High-precision semimajor axis deviation calculation method based on double-star on-orbit telemetry data |
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